to send emg signal to motor with test programm
Dependencies: HIDScope biquadFilter mbed
Fork of EMGvoorjan by
main.cpp@26:97a8adc9b895, 2017-10-24 (annotated)
- Committer:
- Roytsg
- Date:
- Tue Oct 24 10:48:48 2017 +0000
- Revision:
- 26:97a8adc9b895
- Parent:
- 25:9c2fc98da6b3
- Child:
- 27:674193a62e06
array wise moving average 10 samples
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Roytsg | 21:77998ce2c0dd | 3 | #include "BiQuad.h" |
Roytsg | 23:b5a09f96c2d7 | 4 | #include "math.h" |
vsluiter | 0:32bb76391d89 | 5 | |
Roytsg | 24:fe3825337233 | 6 | |
vsluiter | 4:8b298dfada81 | 7 | //Define objects |
tomlankhorst | 19:2bf824669684 | 8 | AnalogIn emg0( A0 ); |
tomlankhorst | 19:2bf824669684 | 9 | AnalogIn emg1( A1 ); |
tomlankhorst | 19:2bf824669684 | 10 | |
tomlankhorst | 14:f83354387756 | 11 | Ticker sample_timer; |
Roytsg | 24:fe3825337233 | 12 | HIDScope scope( 3 ); |
tomlankhorst | 18:21d8e7a81cf5 | 13 | DigitalOut led(LED1); |
vsluiter | 2:e314bb3b2d99 | 14 | |
tomlankhorst | 14:f83354387756 | 15 | /** Sample function |
tomlankhorst | 14:f83354387756 | 16 | * this function samples the emg and sends it to HIDScope |
tomlankhorst | 14:f83354387756 | 17 | **/ |
Roytsg | 24:fe3825337233 | 18 | |
Roytsg | 26:97a8adc9b895 | 19 | double A[10]; |
Roytsg | 26:97a8adc9b895 | 20 | |
Roytsg | 24:fe3825337233 | 21 | |
tomlankhorst | 14:f83354387756 | 22 | void sample() |
vsluiter | 2:e314bb3b2d99 | 23 | { |
tomlankhorst | 19:2bf824669684 | 24 | /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ |
tomlankhorst | 19:2bf824669684 | 25 | scope.set(0, emg0.read() ); |
tomlankhorst | 19:2bf824669684 | 26 | scope.set(1, emg1.read() ); |
tomlankhorst | 19:2bf824669684 | 27 | /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) |
tomlankhorst | 19:2bf824669684 | 28 | * Ensure that enough channels are available (HIDScope scope( 2 )) |
tomlankhorst | 20:97059009a491 | 29 | * Finally, send all channels to the PC at once */ |
vsluiter | 11:ce72ec658a95 | 30 | scope.send(); |
tomlankhorst | 18:21d8e7a81cf5 | 31 | /* To indicate that the function is working, the LED is toggled */ |
tomlankhorst | 18:21d8e7a81cf5 | 32 | led = !led; |
vsluiter | 2:e314bb3b2d99 | 33 | } |
vsluiter | 0:32bb76391d89 | 34 | |
Roytsg | 21:77998ce2c0dd | 35 | BiQuadChain bqc; |
Roytsg | 21:77998ce2c0dd | 36 | BiQuad bq1( 0.6844323315947305,1.368864663189461, 0.6844323315947305,1.2243497755555954,0.5133795508233265); |
Roytsg | 21:77998ce2c0dd | 37 | BiQuad bq2( 0.6844323315947306, -1.3688646631894612, 0.6844323315947306, -1.2243497755555959, 0.5133795508233266); |
Roytsg | 21:77998ce2c0dd | 38 | BiQuad bq3( 0.7566897754116633, -1.2243497755555959, 0.7566897754116633, -1.2243497755555959, 0.5133795508233266); |
Roytsg | 21:77998ce2c0dd | 39 | |
Roytsg | 21:77998ce2c0dd | 40 | Ticker emgSampleTicker; |
Roytsg | 21:77998ce2c0dd | 41 | AnalogIn emg( A0 ); |
Roytsg | 21:77998ce2c0dd | 42 | |
Roytsg | 21:77998ce2c0dd | 43 | void emgSample() { |
Roytsg | 21:77998ce2c0dd | 44 | |
Roytsg | 24:fe3825337233 | 45 | double emgFiltered = bqc.step( emg.read() ); |
Roytsg | 24:fe3825337233 | 46 | double emgabs = abs(emgFiltered); |
Roytsg | 24:fe3825337233 | 47 | scope.set(0, emgFiltered ); |
Roytsg | 24:fe3825337233 | 48 | scope.set(1, emgabs ); |
Roytsg | 24:fe3825337233 | 49 | |
Roytsg | 26:97a8adc9b895 | 50 | for(int i = 9; i >= 0; i--){ |
Roytsg | 26:97a8adc9b895 | 51 | if (i == 0) { |
Roytsg | 26:97a8adc9b895 | 52 | A[i] = emgabs; |
Roytsg | 26:97a8adc9b895 | 53 | } |
Roytsg | 26:97a8adc9b895 | 54 | else { |
Roytsg | 26:97a8adc9b895 | 55 | A[i] = A[i-1]; |
Roytsg | 26:97a8adc9b895 | 56 | } |
Roytsg | 26:97a8adc9b895 | 57 | } |
Roytsg | 26:97a8adc9b895 | 58 | double sum = 0; |
Roytsg | 26:97a8adc9b895 | 59 | for (int n = 0; n < 9; n++) { |
Roytsg | 26:97a8adc9b895 | 60 | sum = sum + A[n]; |
Roytsg | 26:97a8adc9b895 | 61 | } |
Roytsg | 24:fe3825337233 | 62 | |
Roytsg | 26:97a8adc9b895 | 63 | double movmean = sum/10; |
Roytsg | 24:fe3825337233 | 64 | |
Roytsg | 26:97a8adc9b895 | 65 | scope.set(2, movmean); |
Roytsg | 21:77998ce2c0dd | 66 | scope.send(); |
Roytsg | 21:77998ce2c0dd | 67 | } |
Roytsg | 21:77998ce2c0dd | 68 | |
Roytsg | 21:77998ce2c0dd | 69 | |
vsluiter | 0:32bb76391d89 | 70 | int main() |
tomlankhorst | 19:2bf824669684 | 71 | { |
Roytsg | 21:77998ce2c0dd | 72 | bqc.add( &bq1 ).add( &bq2 ).add( &bq3 ); |
Roytsg | 21:77998ce2c0dd | 73 | emgSampleTicker.attach( &emgSample, 0.002 ); |
tomlankhorst | 14:f83354387756 | 74 | /**Attach the 'sample' function to the timer 'sample_timer'. |
tomlankhorst | 19:2bf824669684 | 75 | * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
vsluiter | 4:8b298dfada81 | 76 | */ |
Roytsg | 21:77998ce2c0dd | 77 | //sample_timer.attach(&sample, 0.01); |
tomlankhorst | 15:0da764eea774 | 78 | |
tomlankhorst | 14:f83354387756 | 79 | /*empty loop, sample() is executed periodically*/ |
tomlankhorst | 15:0da764eea774 | 80 | while(1) {} |
vsluiter | 0:32bb76391d89 | 81 | } |